In this paper, we propose a new decentralized motion control algorithm of multiple mobile robots transporting a single object in cooperation with a human based on a path generated form an environment. Each mobile robot is controlled as if it had caster-like dynamics around a representative point attached to the object and its representative point moves along the path based on the intentional force applied by a human. The proposed decentralized control algorithm is experimentally applied to three omni-directional mobile robots referred to as Dr Helper. Experimental results illustrate the validity of the proposed control algorithm.
|Number of pages||6|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|Publication status||Published - 2002|
|Event||2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States|
Duration: 2002 May 11 → 2002 May 15